> TransEqns.m

# TransEqns.m

TransEqns.m — Objective-C source code, 1Kb

## File contents

function PostImpact = TransEqns(Pre_Impact)
% This function relates the pre-impact state to the post-impact state.
% The eqns can be derived by using the prinicple of conservation of
% angular momentum.  The stance & swing leg angles are related by geometry
% and the two eqns for angular velocity come from: (1) conservation of
% angular momentum (for the entire system) about the contact point, and (2)
% conservation of angular momentum about the hip (for the swing leg).
% c.f. http://ruina.tam.cornell.edu/research/topics/...
% locomotion_and_robotics/papers/simplest_walking/...
% simplest_walking_gomes.pdf
% for complete details regarding the derivation.

theta    = Pre_Impact(1);
phi      = Pre_Impact(2);
end